Functionality to manage lighthouse system configuration (geometry and calibration data).
Classes
LighthouseConfigFileManager
LighthouseConfigFileManager()
Class variables
CALIBS_ID
GEOS_ID
SYSTEM_TYPE_ID
SYSTEM_TYPE_V1
SYSTEM_TYPE_V2
TYPE
TYPE_ID
VERSION
VERSION_ID
Static methods
def read(file_name)
def write(file_name, geos={}, calibs={}, system_type=2)
LighthouseConfigWriter
LighthouseConfigWriter(cf, nr_of_base_stations=16)
This class is used to write system config data to the Crazyflie RAM and persis to permanent storage
Methods
def write_and_store_config(self, data_stored_cb, geos=None, calibs=None, system_type=None)
Transfer geometry and calibration data to the Crazyflie and persist to permanent storage. The callback is called when done. If geos or calibs is None, no data will be written for that data type. If geos or calibs is a dictionary, the values for the base stations in the dictionary will transfered to the Crazyflie, data for all other base stations will be invalidated.
def write_and_store_config_from_file(self, data_stored_cb, file_name)
Read system configuration data from file and write/persist to the Crazyflie. Geometry and calibration data for base stations that are not in the config file will be invalidated.